CN101089653A - Short-range frequency-modulation continuous wave FMCW radar anti-interference method - Google Patents

Short-range frequency-modulation continuous wave FMCW radar anti-interference method Download PDF

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CN101089653A
CN101089653A CN 200710018296 CN200710018296A CN101089653A CN 101089653 A CN101089653 A CN 101089653A CN 200710018296 CN200710018296 CN 200710018296 CN 200710018296 A CN200710018296 A CN 200710018296A CN 101089653 A CN101089653 A CN 101089653A
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CN101089653B (en
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李牧
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Nanjing Jingyi Security System Technology Co., Ltd.
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Xian University of Technology
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Abstract

An anti-interfering method of short-range FMCW radar includes designing a set of pseudo-random code according to occasion of radar, distributing different pseudo-random code to different radar operated at different area, applying different pseudo-random code to modulate frequency start-point of FM emission signal for the same radar on each cycle, making frequency-mixture on received echo signal by utilizing emission signal, using filter to filter off interference signal and applying FM signal processing means to treat reserved usable signal for obtaining object distance and speed information in high resolution.

Description

Short-range frequency-modulation continuous wave FMCW radar anti-interference method
Technical field
The invention belongs to the radargrammetry technical field, relate to the method that radar range finding is tested the speed, be specifically related to a kind of method that tests the speed based on the radar range finding of Continuous Wave with frequency modulation FMCW system.
Background technology
Phase mutual interference in application such as automobile collision avoidance radar between a plurality of radars is a stubborn problem.For distance, the speed of a plurality of targets in the occasion high resolving power of working simultaneously, the real-time measurement viewing area at a plurality of radars, and non-interference, people have taked a lot of methods.
Obtain apart from velocity information [Liu Zhang Jianhui state year Gu Hongsu is people A novel transmit signal based on high range-resolution concert forFLAR or AICC system application.[J] .2001 IEEE. based on step frequency pulse synthetic method], this method advantage is to realize the high range resolution that broadband signal can reach with the processing mode of narrow emission machine, receiver, but this method is suppressing relative complex in other radar jammings processing, Project Realization difficulty.
Method based on spread spectrum, promptly obtain the target time delay with the relevant method of reception pseudo-random code by the reference pseudo-random code, and then obtain distance, velocity information [spread spectrum technique communication and multiple access technology, Liu Ceng Xingwen of publishing house of Xian Electronics Science and Technology University is peace Sun Xianpu].But the range resolution of this method and pseudo-random code Baud Length are inversely proportional to, and obtain high range resolution, need very high chip rate, and high speed circuit and device are generally relatively more expensive.Therefore, this method implements complexity and cost is higher.
Continuous Wave with frequency modulation FMCW system is with its ranging and range rate simultaneously, and cost is lower, and principle is simple, and advantages such as energy measurement close-in target have obtained to use widely.But during conventional FMCW system radargrammetry, when a plurality of radars were worked simultaneously, the problem of phase mutual interference was restricted its application in some occasion between the radar.
Summary of the invention
The object of the present invention is to provide a kind of short-range frequency-modulation continuous wave FMCW radar anti-interference method, can be in the occasion that single or multiple radars are worked be simultaneously carried out high resolving power, real-time measurement viewing area the distance and the speed of a plurality of targets, when having solved a plurality of radars and having worked simultaneously, between the problem of phase mutual interference.
The technical solution adopted in the present invention is, short-range frequency-modulation continuous wave FMCW radar anti-interference method, according to the radar use occasion and be embodied as one group of pseudorandomcode of the design, radars different in the perform region is distributed different pseudorandomcodes, the beginning frequency point that adopts different pseudorandomcode modulation triangle linear frequency modulations to transmit to each of same radar in cycle, carry out mixing with the echoed signal that transmits to receiving then, filter undesired signal by wave filter and keep useful signal, handle according to triangulated linear FM signal disposal route at last, promptly obtain the high resolving power distance and the velocity information of target, this method is carried out according to the following steps
A. design pseudorandomcode
Design m sequential coding is a pseudorandomcode, and every group of pseudorandomcode is 2 M-1 random number, corresponding m sequence, it is worth 1 to 2 MChange between-1, M chooses 5,6,7,8,9,10,11 according to design cost and working environment antagonism interference requirement ... in a positive integer;
B. transmit with pseudorandomcode modulation triangle linear frequency modulation
Give the pseudorandomcode of step design on for the transmitted wave of each radar in the perform region, and make the pseudorandomcode of each radar transmitting wave different, come the transmit beginning frequency point of different cycles of modulation triangle linear frequency modulation with the pseudorandomcode of distributing to Ben Leida;
C. carry out mixing with the target echo signal that transmits and receive of Ben Leida behind last step frequency, the low-pass filter that a cutoff frequency by cascade is fmax and passband are the bandpass filter of fmin～fmax or the bandpass filter that is fmin～fmax with a passband only, fmin is the minimum value of useful difference frequency, according to useful difference frequency size design wave filter, useful beat signal is passed through, curb the undesired signal that other radar emission signal and this Radar Local-oscillator signal mixing produce simultaneously;
D. the last step was handled through filtered echoed signal
After filtered signal carried out A/D sampling, FFT, CFAR and handle, obtain corresponding target range and speed according to following formula,
R = ( f b + + f b - ) T m · c 4 B
v = λ 4 ( f b - - f b + )
Wherein, d is the distance of target, and v is the speed of target, and c is the light velocity, f B+, f B-For corresponding to the last frequency modulation of each target and the beat frequency in following frequency modulation cycle, T mBe the modulating time in frequency modulation cycle up and down, B is a transmitted signal bandwidth.
For solving the problem that existing radar anti-interference method exists, radar signal design and signal processing method that the present invention proposes, have simultaneously at a plurality of radars that antijamming capability is strong, false alarm rate is low, measuring accuracy is high, the characteristics that the Anti-interference Design cost is low in the working environments.
1) anti-interference method of the present invention has adopted the fmcw radar system, and common fmcw radar system has the advantage that Project Realization is easy, cost is low, so method of the present invention also has the low advantage that is easy to realize of cost; Owing to make common fmcw radar have antijamming capability, thus can be under the environment of a plurality of radars reliably working, can collaborative work of many radars or radar network composite; Compare with other anti-interference method and to have the advantage that cost is low, be easy to realize.
2) because signal processing method and common fmcw radar compatibility realize that simply cost is low so also have complete machine, simultaneously the advantage of ranging and range rate.
3) because adopted false target to reject the filtering algorithm design of algorithm and anti-other radar jammings, so significantly reduced false alarm rate.
4) owing to having adopted unique pseudorandom modulation, so no matter have or not the interference of other radars, required signal Processing step is identical.In other words, suppress interference and do not need extra software and hardware cost.
Stronger when 5) using than conventional Infrared intrusion detector antijamming capability as watch-dog because Infrared intrusion detector sweltering heat summer the external world hot blast or sun direct projection all can cause false alarm; In addition, this system radar also have far measuring distance, wide coverage can the collaborative work of many radars and the characteristics of the high resolving power of observed object apart from velocity information can be provided.
6) can also have distance measurement function simultaneously as alert upgrading products, i.e. speed, the distance of a plurality of vehicles of high-resolution measurement simultaneously with velocity radar.
Description of drawings
Fig. 1 is two periodic signal synoptic diagram modulating through pseudo-random code in the inventive method;
Fig. 2 is the conventional FMCW synoptic diagram that transmits;
Second kind of two periodic signal synoptic diagram that transmit modulating through pseudo-random code in Fig. 3 the inventive method;
Fig. 4 is the another kind of conventional FMCW synoptic diagram that transmits;
Fig. 5 the inventive method is through the generation theory diagram that transmits of dual modulation;
Fig. 6 the inventive method is through the another kind of theory diagram that produces of transmitting of dual modulation;
The theory diagram that echo and interference are handled in Fig. 7 the inventive method.
Embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
The present invention is according to the radar use occasion and be embodied as one group of pseudorandomcode of the design, different radars is distributed different pseudorandomcodes, the beginning frequency point that adopts different pseudorandomcode modulation triangle linear frequency modulations (FMCW) to transmit to each of same radar in cycle, carry out mixing with the echoed signal that transmits to receiving, filter undesired signal by wave filter and keep useful signal, handle the high resolving power distance and the velocity information of the target that can obtain wanting again according to triangulated linear frequency modulation (FMCW) signal processing method of routine, and can suppress to close on the interference of radar.Because signal processing method of the present invention and conventional FMCW high-resolution radar signal disposal route compatibility, so, when realizing disturbing inhibition, can not increase the radar cost again.
The inventive method is carried out according to the following steps,
A. designing the m sequential coding is pseudorandomcode, and every group of pseudorandomcode is 2 M-1 random number, corresponding m sequence, it is worth 1 to 2 MChange between-1, M chooses 5,6,7,8,9,10,11 according to design cost and working environment antagonism interference requirement ... in a positive integer.
B. according to conventional design method design triangulated linear frequency modulation (FMCW) signal (be designated hereinafter simply as and transmit), phase is different triangulated linear frequency modulation (FMCW) signal of one or more slopes or is different triangulated linear frequency modulation (FMCW) signal of one or more slopes and the combination of single-frequency continuous wave weekly, give the pseudorandomcode of step design on for the transmitted wave of each radar in the perform region, and make the pseudorandomcode of each radar transmitting wave different, come the transmit beginning frequency point of different cycles of modulation triangle linear frequency modulation with the pseudorandomcode of distributing to Ben Leida.
Be specially with this cycle random number corresponding bn and Pfmax and multiply each other, triangulated linear frequency modulation (FMCW) the signal frequency value addition of the frequency values of gained and non-modulated is as emission signal frequency.Here P is the positive number greater than, and fmax is the maximum useful beat frequency value that obtains after the useful target echo and the mixing that transmits.
The mathematic(al) representation of the positive and negative slope modem section of modulation signal and correspondence is:
Figure A20071001829600091
0 ≤ t ≤ T m 2
Figure A20071001829600093
T m 2 ≤ t ≤ T m
Wherein, i=1,2.k=1,2,3..2m-1.x Ik just(t) be the mathematic(al) representation that transmits of the mathematic(al) representation of k cycle i leg-of-mutton positive slope modem section, x Ik is negative(t) be the mathematic(al) representation that transmits of the mathematic(al) representation of k cycle i leg-of-mutton negative slope modem section, at this moment, transmit form as shown in Figure 1, transmit with conventional FMCW that Fig. 2 does not modulate and compare, can find out its difference; Work as x Ik just(t) B in the expression formula 2=0 o'clock this moment, each cycle second triangle positive slope modem section became single-frequency continuous wave, at this moment, transmitted form as shown in Figure 3, transmitted with the conventional FMCW of Fig. 4 and compared, and can find out its difference.A is the amplitude of transmitting, f 0Be the carrier frequency that transmits, B iBe i leg-of-mutton modulation signal bandwidth, T mBe interim each delta modulated signal duration length weekly, the duration of positive and negative slope modem section equates, is T m/ 2.θ iIt is the initial phase in i cycle.P is the positive number greater than, f MaxBe the maximum useful beat frequency value that obtains after the useful target echo and the mixing that transmits.b N (k)Pseudo-random code for k cycle distributing to Ben Leida.
C. carry out mixing with the target echo signal that transmits and receive of Ben Leida behind last step frequency, the low-pass filter that a cutoff frequency by cascade is fmax and passband are the bandpass filter of fmin～fmax or the bandpass filter that is fmin～fmax with a passband only, herein, fmin is the minimum value of useful difference frequency, according to useful difference frequency size design wave filter, useful beat signal is passed through, curb the undesired signal that other radar emission signal and this Radar Local-oscillator signal mixing produce simultaneously.
Through above-mentioned transmitting and Design of Filter, interference that can well other radars of filtering, reason divides three kinds of situations to be discussed.
Situation one:
Because the pseudorandomcode difference of different radar correspondences, so, different its difference on the frequencies of different radar transmitter frequencies are at least (bni-bnk) Pfmax in certain cycle, wherein, bni and bnk are respectively the pseudo-random code of i and k this cycle of radar correspondence, its difference is at least one, i.e. (bni-bnk) Pfmax 〉=Pfmax.Through after frequency is the filter filtering of fmax, rejecting the interference of other radars.
Situation two:
Its pseudorandomcode of being modulated of two certain cycles of radar is jumped at (promptly should cycle pseudorandomcode identical) together under disadvantageous situation, still because the start of different radars is at random constantly, so, as long as two radar on times differ by more than
Figure A20071001829600111
, can be the interference of rejecting other radars behind the filter filtering of fmax by frequency also behind undesired signal and this Radar Local-oscillator signal mixing then.
Situation three:
Its pseudorandomcode of being modulated of two certain cycles of radar is jumped at (promptly should cycle pseudorandomcode identical) together under worst situation, and two radar starts constantly differ less than
Figure A20071001829600112
, still can be rejected in this case and disturb (seeing below argumentation) by the anti-interference filtration algorithm of our design.
D. adopt common FMCW signal processing method to handling through filtered signal, step is as follows,
(1) undesired signal of echoed signal and other radars is together through receiving antenna, behind the low noise amplifier with the mixing that transmits of this machine, to the signal after the mixing through other radar jammings of filtering after the filter process;
(2) filtered signal is carried out the A/D sampling, FFT, operations such as CFAR processing are obtained corresponding target range and speed according to following formula;
R = ( f b + + f b - ) T m · c 4 B
v = λ 4 ( f b - - f b + )
In the following formula, d is the distance of target, and v is the speed of target, and c is the light velocity, f B+, f B-For corresponding to the last frequency modulation of each target and the beat frequency in following frequency modulation cycle, T mBe the modulating time in last (descending) frequency modulation cycle, B is a transmitted signal bandwidth.
(3) false target that carries out in the target-rich environment is rejected
Concrete grammar is: first triangle echo meter that transmits is calculated " R ", " V " and second triangle " R " that echo meter is calculated that transmit, " V " compares, or the transmit speed " V " of each target that " V " that echo meter calculates and single-frequency continuous wave calculate of first triangle compared, to reject owing to calculate the falseness " target " that causes; For many radars while workplaces, design the different triangle modulating baseband signal of a plurality of slopes, even B kDifference, k=1,2, but modulation period T mIdentical; In the error range Δ R ', the Δ v ' that set,, then be real goal if certain target all occurs in each triangle transmits the Echo Processing result; Otherwise, rejected as false target; Each cycle distance, speed that echo meter calculates the corresponding same real goal of trying to achieve that transmits is done respectively on average, as this measured target apart from velocity amplitude.This algorithm can be used directly under the target-rich environment, the rejecting of false target when a plurality of radars are worked simultaneously; The velocity amplitude that echo calculates and the velocity amplitude of single-frequency continuous wave are rejected false target also can to adopt the comparison triangle to transmit, in certain error range, if certain target velocity measured value all occurs in triangle transmits the result of Echo Processing result and single-frequency continuous wave, then this target is a real goal; Otherwise, rejected as false target.
(4) in order further to reduce the interference that other radar may cause, further suppress to disturb according to the anti-interference filtration algorithm.
After the radar operate as normal, the distance value of having rejected false target of each computation of Period gained is also temporarily stored according to descending series arrangement, and compare with next period measurement result, (speed of considering might be because emergency brake etc. be former thereby occur sharply changing.Target range is that singular value (distance is jumped) can not appear in continuous smooth change under the normal condition).For target at the uniform velocity, its variable in distance in the time in each cycle generally can not surpass Tv, if two periodic distance measurement results differ bigger above this value, such as surpassing more than the twice, then thinks to have run into to disturb and discards as error result.
This is because the distance of each target should be that stable and continuous changes under the normal condition.As the travelling speed law upper limit 120km/h of automobile on the expressway, each cycle of FMCW signal is generally several milliseconds to a few tens of milliseconds usually, is that each cycle vehicle running distance of example can be above 0.5 meter with 15 milliseconds.Because pseudorandomcode, disturb maximum time can not surpass one-period, owing to reason two radars of following one-period of pseudorandomcode must jump out of the transmission frequency that same pseudo-random code is modulated.So next cycle will inevitably obtain normal measurement result.The purpose of making is in order to prevent under the disadvantageous situation like this, though two radar transmitter frequencies through different pseudo-random codes modulation, two radars in the process of operation simultaneously certain one-period transmission frequency jump on same frequency.Certain two radar transmitter frequencies at a time by the probability of identical pseudo-random code modulation very little only be (2 m-1) -2
Distance and velocity amplitude with real goal exports demonstration or control device at last.
Based on the radar of realizing said method, its main particular point is at the signal generation unit and the signal processing unit of radar.The signal generation unit mainly is made up of dual modulation controller, Direct Digital compositor, low-pass filter and high stable millimeter wave point frequency source and high stable crystal oscillator; Signal processing unit is mainly put in advance by low noise, frequency mixer, and wave filter, digital signal processor, programmable logic controller (PLC) circuit reach auxiliary circuit compositions such as power management module.
Signal generation unit such as Fig. 5, shown in Figure 6.The dual modulation controller is mainly used in the frequency change rule of control Direct Digital compositor DDS among Fig. 5, make it carry out frequency change according to pseudorandomcode and triangle dual modulation, produce required frequency signal, controller can be programmable logic controller (PLC) FPGA/CPLD, or digital signal processor DSP, or single-chip microprocessor MCU is formed.Direct Digital compositor DDS produces sequential, cycle, slope, phase place, the satisfactory frequency signal of frequency change rule under the control of dual modulation device; The high stable crystal oscillator provides high stable, low spuious, low frequency reference signal of making an uproar mutually in the source frequently for high stable reference source and high stable millimeter wave point; The high stable reference source carries out conversion to the frequency signal from the high stable crystal oscillator to satisfy the reference frequency requirement of broadband DDS; High stable millimeter wave point source frequently mainly is that B upconverts to millimere-wave band to baseband signal by frequency mixer as the carrier frequency that transmits; The N frequency multiplication of frequency mixer A back, filtering, amplifying circuit mainly is to satisfy high resolution radar the requirement of bandwidth is enlarged DDS output signal bandwidth.The N frequency multiplication of frequency mixer A front, filtering, amplifying circuit mainly increases for the ease of back Design of Filter (mainly in order to suppress third harmonic).Each filter circuit is used for the various spuious humorous out-of-band-signal that involve of filtering.Through transmitting of filtering by frequency multiplication, filtering, operations such as amplification are launched by antenna at last.
Fig. 6 is the another kind of method that realizes signal generation unit of the present invention.Be to have used phaselocked loop (PLL) unit and voltage controlled oscillator with the scheme key distinction shown in Figure 5.Here through the voltage controlled oscillator output signal of filtering by coupling mechanism after part energy and millimeter wave point frequently a source signal carry out mixing, take out its difference frequency thus, in phase locked-loop unit (PLL), carry out phase demodulation with the DDS reference signal behind the frequency division, its output signal makes it change according to the frequency of setting through control voltage controlled oscillator output frequency behind the loop filter.
Signal processing is mainly used in the processing echoed signal as shown in Figure 7, the interference of other radars of filtering, high-resolution distance, the speed actual value of acquisition target.Echo and interference amplify the back through low noise and local oscillation signal carries out mixing in frequency mixer, take out the beat signal of each target through filtration module, through the A/D conversion, fourier transform FFT, the distance and the calculating of speed and false target reject and disturb suppress etc. range-to-go and velocity information.
The present invention distributes different pseudorandomcodes to radar different in the perform region, and each cycle that transmits is carried out the pseudorandomcode modulation, so therefore different radar synchronization radar transmitter frequency difference can suppress the problem of co-channel interference.
Method of the present invention makes any two radar synchronization difference on the frequencies at least greater than signal bandwidth after the mixing, and filter bandwidht equals signal bandwidth, therefore can suppress the interference of other radars by filter unit.
Each cycle internal emission signal form is identical with common fmcw radar, therefore can adopt the disposal route of normal signal.

Claims (6)

1. short-range frequency-modulation continuous wave FMCW radar anti-interference method, according to the radar use occasion and be embodied as one group of pseudorandomcode of the design, radars different in the perform region is distributed different pseudorandomcodes, the beginning frequency point that adopts different pseudorandomcode modulation triangle linear frequency modulations to transmit to each of same radar in cycle, carry out mixing with the echoed signal that transmits to receiving then, filter undesired signal by wave filter and keep useful signal, handle according to triangulated linear FM signal disposal route at last, promptly obtain the high resolving power distance and the velocity information of target, it is characterized in that, this method is carried out according to the following steps
A. design pseudorandomcode
Design m sequential coding is a pseudorandomcode, and every group of pseudorandomcode is 2 M-1 random number, corresponding m sequence, it is worth 1 to 2 MChange between-1, M chooses 5,6,7,8,9,10,11 according to design cost and working environment antagonism interference requirement ... in a positive integer;
B. transmit with pseudorandomcode modulation triangle linear frequency modulation
Give the pseudorandomcode of step design on for the transmitted wave of each radar in the perform region, and make the pseudorandomcode of each radar transmitting wave different, come the transmit beginning frequency point of different cycles of modulation triangle linear frequency modulation with the pseudorandomcode of distributing to Ben Leida;
C. carry out mixing with the target echo signal that transmits and receive of Ben Leida behind last step frequency, the low-pass filter that a cutoff frequency by cascade is fmax and passband are the bandpass filter of fmin～fmax or the bandpass filter that is fmin～fmax with a passband only, fmin is the minimum value of useful difference frequency, according to useful difference frequency size design wave filter, useful beat signal is passed through, curb the undesired signal that other radar emission signal and this Radar Local-oscillator signal mixing produce simultaneously;
D. the last step was handled through filtered echoed signal
After filtered signal carried out A/D sampling, FFT, CFAR and handle, obtain corresponding target range and speed according to following formula,
R = ( f b + + f b - ) T m · c 4 B
v = λ 4 ( f b - + f b + )
Wherein, d is the distance of target, and v is the speed of target, and c is the light velocity, f B+, f B-For corresponding to the last frequency modulation of each target and the beat frequency in following frequency modulation cycle, T mBe the modulating time in frequency modulation cycle up and down, B is a transmitted signal bandwidth.
2. in accordance with the method for claim 1, it is characterized in that, the pseudorandomcode that described usefulness is distributed to Ben Leida the transmit beginning frequency point of different cycles of modulation triangle linear frequency modulation, specifically be to adopt, multiply each other with this cycle random number corresponding bn and Pfmax, the frequency values addition of the triangulated linear FM signal of the frequency values of gained and non-modulated, as emission signal frequency, P wherein is the positive number greater than, and fmax is the maximum useful beat frequency value that obtains after the useful target echo and the mixing that transmits.
3. in accordance with the method for claim 2, it is characterized in that the mathematic(al) representation of the positive and negative slope modem section of described modulation signal and corresponding triangulated linear FM signal is:
0 ≤ t ≤ T m 2
Figure A2007100182960003C5
T m 2 ≤ t ≤ T m
Wherein, i=1,2.k=1,2,3..2m-1, x Ik just(t) be the mathematic(al) representation that transmits of the mathematic(al) representation of k cycle i leg-of-mutton positive slope modem section, x Ik is negative(t) be the mathematic(al) representation that transmits of the mathematic(al) representation of k cycle i leg-of-mutton negative slope modem section, A is the amplitude of transmitting, f 0Be the carrier frequency that transmits, B iBe i leg-of-mutton modulation signal bandwidth, T mBe interim each delta modulated signal duration length weekly, the duration of positive and negative slope modem section equates, is T m/ 2, θ iBe the initial phase in i cycle, P is the positive number greater than, f MaxBe the maximum useful beat frequency value that obtains after the useful target echo and the mixing that transmits, b N (k)Pseudo-random code for k cycle distributing to Ben Leida.
4. in accordance with the method for claim 1, it is characterized in that described filtered echoed signal is handled also can be carried out following steps,
I. the false target that carries out in the target-rich environment is rejected;
Ii. further suppress the interference that other radar may cause according to distance anti-interference filtration algorithm.
5. in accordance with the method for claim 4, it is characterized in that, the concrete grammar of described step I is, first triangle R, V that echo meter calculates and second triangle R, V that echo meter calculates that transmit that transmit compared, or the transmit speed V of each target that V that echo meter calculates and single-frequency continuous wave calculate of first triangle compared, in the error range Δ R ', the Δ v ' that set, if certain target all occurs in each triangle transmits the Echo Processing result, then is real goal; Otherwise, rejected as false target.
6. in accordance with the method for claim 4, it is characterized in that, the concrete grammar of described step I i is, after the radar operate as normal, the distance value of having rejected false target of each computation of Period gained is also temporarily stored according to descending series arrangement, and compare with next period measurement result, if two periodic distance measurement results differ above T mMore than the v twice, then think to have run into interference and discard as error result.
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CN114217301B (en) * 2021-12-10 2022-08-05 中大智能科技股份有限公司 High-precision side slope monitoring radar target detection and distance measurement method
CN114217301A (en) * 2021-12-10 2022-03-22 中大检测(湖南)股份有限公司 High-precision side slope monitoring radar target detection and distance measurement method
CN114895264A (en) * 2022-06-23 2022-08-12 南京慧尔视智能科技有限公司 Method and device for suppressing false radar target, electronic equipment and storage medium
CN117250619A (en) * 2023-11-08 2023-12-19 烟台初心航空科技有限公司 Low false alarm high reliable anticollision radar device
CN117250619B (en) * 2023-11-08 2024-01-26 烟台初心航空科技有限公司 Low false alarm high reliable anticollision radar device

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